Design and Implementation of an Exploration Algorithm for Autonomous Robots

This paper presents the design and implementation of an exploration algorithm for differentially driven autonomous robots. The algorithm is validated in a controlled environment by positioning the robot to perform a scanning task and determining the location of metal objects in a two-dimensional plane. This prototype is the first phase of a research project aimed at designing collaborative robots for landmine detection. The paper presents the kinematic model of a differential robot, the control system for trajectory planning and obstacle avoidance.